CN109738103A - A kind of paddy-field-working equipment working resistance measuring system and its measurement method - Google Patents
A kind of paddy-field-working equipment working resistance measuring system and its measurement method Download PDFInfo
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- CN109738103A CN109738103A CN201910060732.2A CN201910060732A CN109738103A CN 109738103 A CN109738103 A CN 109738103A CN 201910060732 A CN201910060732 A CN 201910060732A CN 109738103 A CN109738103 A CN 109738103A
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- 238000000691 measurement method Methods 0.000 title claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 25
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000015556 catabolic process Effects 0.000 abstract description 2
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 238000009331 sowing Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000011868 grain product Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The present invention relates to a kind of paddy-field-working equipment working resistance measuring systems, including working resistance sensor and obliquity sensor；Working resistance sensor includes more three-dimensional force sensors, front and rear panels, the center of front and rear panels is equipped with an installation hole location, face setting before and after the installation hole location of front and rear panels, three-dimensional force sensor is fixed between front and rear panels and is fitted around hole location setting, the installation hole location of foreboard is connect with the connecting component of paddy field machine hanger bracket, and the installation hole location of back plate is connect with paddy-field-working equipment；Obliquity sensor is mounted in front or rear panel.Further relate to the measurement method of paddy-field-working equipment working resistance measuring system.The present invention can measure working resistance, inclination angle and the moment of flexure of paddy-field-working equipment, haves no need to change, the self structure of breakdown operation agricultural machinery and implement, can load and unload at any time, have the characteristics that convenient and efficient, belongs to Intelligent agricultural machinery field.
Description
Technical field
The present invention relates to Intelligent agricultural machinery field, in particular to a kind of paddy-field-working equipment working resistance measuring system and
Its measurement method.
Background technique
China's cultivated area is wide, and the type in arable land is also complicated various, and wherein China paddy field cultivated area accounts for about national total
The a quarter of cultivated area, is distributed in Qinling Mountains Huaihe River areas to the south more, paddy field area account for the 90% of national paddy field area with
On.Rice is the important grain product in China, and there is 60% or more population in China using rice as staple food, this is but also northern China
Regional paddy field area is constantly increasing, therefore the paddy field mechanized development agrotechnical to China of development and the raising of grain have
Significance.But the working resistance of the machinery such as paddy-field-working equipment, such as land leveler for lady field, rice transplanter and seed-sowing machine test system
The project and experiment porch of system lack, even if it is also cumbersome, inconvenient for use for having.
Therefore it needs to design a kind of resistance that can be used for paddy field work implements, inclination angle, moment of flexure parameter synchronic measurement and adopts
The paddy-field-working equipment working resistance measuring system of collection, and the structure of agricultural machinery and implement is had no need to change, easy to operate, it is convenient to meet
Measure acquisition demand.
Summary of the invention
For the technical problems in the prior art, the object of the present invention is to provide a kind of water of method easy to operate
Field work tool working resistance measuring system and its measurement method, solve current land leveler for lady field, rice transplanter and seed-sowing machine etc.
Mechanical working resistance measurement lacks problem.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of paddy-field-working equipment working resistance measuring system, including working resistance sensor and obliquity sensor；Work
Resistive force sensor includes more three-dimensional force sensors, front and rear panels, and the center of front and rear panels is equipped with an installation
Hole location, the installation hole location front and back face setting of front and rear panels, three-dimensional force sensor are fixed between front and rear panels and surround
Hole location setting is installed, the installation hole location of foreboard is connect with the connecting component of paddy field machine hanger bracket, the installation hole location and water of back plate
The connection of field work tool；Obliquity sensor is mounted in front or rear panel.
As a preference, front and rear panels are square plate, the quantity of three-dimensional force sensor is four, corresponding foreboard and
Four angles of back plate are installed, and the installation hole location of front and rear panels is circular through hole.
As a preference, obliquity sensor is mounted on the upper side edge of foreboard or the upper side edge of back plate；Obliquity sensor is
Three-dimensional inertial sensor.
As a preference, the material of front and rear panels is iron；Obliquity sensor is inhaled by inhaling iron in front or rear panel
The position of the center ofthe of upper side edge.
As a preference, the x-axis direction of three-dimensional force sensor is to be directed toward foreboard from back plate, y-axis direction is perpendicular to x-axis
A left side is directed toward in direction, and z-axis direction is to be directed toward perpendicular to x/y plane.
A kind of measurement method of paddy-field-working equipment working resistance measuring system measures paddy-field-working equipment working resistance
System is installed between paddy field machine and paddy-field-working equipment, and the inclination angle of working resistance sensor is measured by obliquity sensor,
The working resistance that paddy-field-working equipment is calculated by obliquity sensor and working resistance sensor measurement, passes through working resistance
Sensor measurement calculates moment of flexure caused by the operation of paddy-field-working equipment.
As a preference, the X-direction of working resistance sensor is the direction of advance of paddy field machine, Y-direction is paddy field machine
The left side of the direction of advance of tool, Z-direction are upward perpendicular to X/Y plane；The x-axis direction of three-dimensional force sensor is to be directed toward from back plate
Foreboard, y-axis direction are that a left side is directed toward perpendicular to x-axis direction, and z-axis direction is to be directed toward perpendicular to x/y plane；Obliquity sensor is used for
Measurement working resistance sensor inclination angle caused by attitudes vibration in paddy field by paddy field machine, including the rolling rotated around X-direction
Angle beta, the pitch angle α rotated around Y-direction, the yaw angle γ rotated around Z-direction.
As a preference, every three-dimensional force sensor measures three direction force of x, y, z axis, for calculating four three-dimensional forces
The resultant force of sensor:
Wherein: fiRespectively four three direction force of three-dimensional force sensor；F is the resultant force of four three-dimensional force sensors,fxFor x-axis direction resultant force, fyFor y-axis direction resultant force, fzFor z-axis direction resultant force.
As a preference, the calculation method of the working resistance of paddy-field-working equipment are as follows:
Wherein: F is working resistance sensor resultant force, FfFor working resistance, FxFor X-direction resultant force, FyFor Y-direction resultant force, Fz
For Z-direction resultant force.The working resistance of paddy-field-working equipment is the stress of the installation hole location of back plate.
As a preference, the calculation method of moment of flexure caused by paddy-field-working equipment operation are as follows:
Wherein: M is moment of flexure caused by the operation of paddy-field-working equipment；H between the three-dimensional force sensor of two, the direction z away from
From；L is the distance between two three-dimensional force sensors in the direction y.Moment of flexure caused by paddy-field-working equipment operation is back plate plane
Moment of flexure, be that must be added at back plate installation hole location where the power of four three-dimensional force sensors to be transferred to working resistance sensor
Equivalent bending moment.
Generally speaking, the present invention has the advantage that
1. the present invention by by four three-dimensional force sensors and forward and backward board group at working resistance sensor, inclination angle senses
Device measures working resistance, inclination angle and the moment of flexure of paddy-field-working equipment, easy to operate.
2. working resistance sensor of the invention and obliquity sensor only need to be mounted on paddy-field-working agricultural machinery and implement, do not need
Change, the self structure of breakdown operation agricultural machinery and implement, can load and unload at any time, have the characteristics that convenient and efficient.
Detailed description of the invention
Fig. 1 is the main view of working resistance sensor.
Fig. 2 is the right view of working resistance sensor.
Fig. 3 is the scheme of installation of paddy-field-working equipment working resistance measuring system.
Wherein, 1-4 is three-dimensional force sensor, and 5 be paddy field machine, and 6 be working resistance sensor, and 7 be obliquity sensor, 8
It is installation hole location for paddy-field-working equipment, 9.
Specific embodiment
Below in conjunction with specific embodiment, the present invention will be further described in detail.
The present embodiment paddy field machine selects farm tractor, and paddy-field-working equipment selects land leveler for lady field.
A kind of paddy-field-working equipment working resistance measuring system, including working resistance sensor and obliquity sensor.
Working resistance sensor includes four three-dimensional force sensors, foreboard, back plates.Front and rear panels are square plate, preceding
After be symmetrical arranged, the center of front and rear panels is equipped with an installation hole location, and the installation hole location of front and rear panels is circle
Shape through-hole, the installation hole location front and back face setting of front and rear panels, three-dimensional force sensor is fixed between front and rear panels and ring
Around installation hole location setting, four angles installation of corresponding front and rear panels simultaneously forms entirety, the mounting hole of foreboard with the fixation of forward and backward plate
Position is connect with the connecting component of paddy field machine hanger bracket, and the installation hole location of back plate is connect with paddy-field-working equipment.
Obliquity sensor is mounted on the upper side edge of back plate；Obliquity sensor is three-dimensional inertial sensor.Front and rear panels
Material is iron；Obliquity sensor is inhaled by inhaling iron in the position of the center ofthe of the upper side edge of back plate.
The X-direction of working resistance sensor is the direction of advance of paddy field machine, and Y-direction is the direction of advance of paddy field machine
Left side, Z-direction are upward perpendicular to X/Y plane.X, y, z axis is parallel with X, Y, Z-direction respectively, i.e. the x-axis side of three-dimensional force sensor
Xiang Weicong back plate is directed toward foreboard, and y-axis direction is that a left side is directed toward perpendicular to x-axis direction, and z-axis direction is to be directed toward perpendicular to x/y plane.
A kind of measurement method of paddy-field-working equipment working resistance measuring system measures paddy-field-working equipment working resistance
System is installed between paddy field machine and paddy-field-working equipment, and the inclination angle of paddy-field-working equipment is measured by obliquity sensor, is led to
It crosses obliquity sensor and working resistance sensor measurement calculates the working resistance of paddy-field-working equipment, passed by working resistance
The moment of flexure of sensor measurement result calculating paddy-field-working equipment.Obliquity sensor and three-dimensional force sensor connect with computer, lead to
It crosses computer and reads data, calculate data, show data information, calculated result, storage data automatically.
Obliquity sensor for measure working resistance sensor by paddy field machine the inclination angle caused by attitudes vibration in paddy field,
Including the roll angle β rotated around X-direction, the pitch angle α rotated around Y-direction, the yaw angle γ rotated around Z-direction.
Every three-dimensional force sensor measures three direction force of x, y, z axis, for calculating the resultant force of four three-dimensional force sensors:
Wherein: fiRespectively four three direction force of three-dimensional force sensor；F is the resultant force of four three-dimensional force sensors,fxFor x-axis direction resultant force, fyFor y-axis direction resultant force, fzFor z-axis direction resultant force.
The calculation method of the working resistance of paddy-field-working equipment are as follows:
Wherein: F is working resistance sensor resultant force, FfFor working resistance, FxFor X-direction resultant force, FyFor Y-direction resultant force, Fz
For Z-direction resultant force.The working resistance of paddy-field-working equipment is the stress of the installation hole location of back plate.
The calculation method of moment of flexure caused by paddy-field-working equipment operation are as follows:
Wherein: M is moment of flexure caused by the operation of paddy-field-working equipment；H between the three-dimensional force sensor of two, the direction z away from
From；L is the distance between two three-dimensional force sensors in the direction y.
Other than the mode that the present embodiment refers to, other farm machineries are can be selected in paddy field machine, and paddy-field-working equipment can also
Other equipments are selected, the working resistance suitable for the machinery such as current land leveler for lady field, rice transplanter and seed-sowing machine measures, these transformation
Mode is within the scope of the invention.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of paddy-field-working equipment working resistance measuring system, it is characterised in that: passed including working resistance sensor and inclination angle
Sensor；Working resistance sensor includes more three-dimensional force sensors, front and rear panels, and the center of front and rear panels is equipped with
One installation hole location, face setting before and after the installation hole location of front and rear panels, three-dimensional force sensor be fixed on front and rear panels it
Between and be fitted around hole location setting, the installation hole location of foreboard connect with the connecting component of paddy field machine hanger bracket, the installation of back plate
Hole location is connect with paddy-field-working equipment；Obliquity sensor is mounted in front or rear panel.
2. a kind of paddy-field-working equipment working resistance measuring system described in accordance with the claim 1, it is characterised in that: foreboard is with after
Plate is square plate, and the quantity of three-dimensional force sensor is four, four angles installation of corresponding front and rear panels, front and rear panels
Installing hole location is circular through hole.
3. a kind of paddy-field-working equipment working resistance measuring system according to claim 2, it is characterised in that: inclination angle sensing
Device is mounted on the upper side edge of foreboard or the upper side edge of back plate；Obliquity sensor is three-dimensional inertial sensor.
4. a kind of paddy-field-working equipment working resistance measuring system described in accordance with the claim 3, it is characterised in that: foreboard is with after
The material of plate is iron；Obliquity sensor is inhaled by inhaling iron in the position of the center ofthe of the upper side edge of front or rear panel.
5. a kind of paddy-field-working equipment working resistance measuring system according to claim 2, it is characterised in that: three-dimensional force passes
The x-axis direction of sensor is that foreboard is directed toward from back plate, and y-axis direction is that a left side is directed toward perpendicular to x-axis direction, and z-axis direction is perpendicular to xy
On plane is directed toward.
6. according to a kind of measurement side of paddy-field-working equipment working resistance measuring system described in any one of claim 2 to 4
Method, it is characterised in that: paddy-field-working equipment working resistance measuring system is installed between paddy field machine and paddy-field-working equipment,
The inclination angle that working resistance sensor is measured by obliquity sensor, passes through obliquity sensor and working resistance sensor measurement
The working resistance for calculating paddy-field-working equipment calculates the operation of paddy-field-working equipment by working resistance sensor measurement and is produced
Raw moment of flexure.
7. a kind of measurement method of paddy-field-working equipment working resistance measuring system, feature exist according to claim 6
In: the X-direction of working resistance sensor is the direction of advance of paddy field machine, and Y-direction is the left side of the direction of advance of paddy field machine,
Z-direction is upward perpendicular to X/Y plane；The x-axis direction of three-dimensional force sensor be from back plate be directed toward foreboard, y-axis direction be perpendicular to
X-axis direction is directed toward a left side, and z-axis direction is to be directed toward perpendicular to x/y plane；Obliquity sensor for measure working resistance sensor by
Paddy field machine inclination angle caused by attitudes vibration in paddy field, including the roll angle β rotated around X-direction, the pitching that is rotated around Y-direction
Angle α, the yaw angle γ rotated around Z-direction.
8. a kind of measurement method of paddy-field-working equipment working resistance measuring system, feature exist according to claim 7
In: every three-dimensional force sensor measures three direction force of x, y, z axis, for calculating the resultant force of four three-dimensional force sensors:
Wherein: fiRespectively four three direction force of three-dimensional force sensor；F is the resultant force of four three-dimensional force sensors,
fxFor x-axis direction resultant force, fyFor y-axis direction resultant force, fzFor z-axis direction resultant force.
9. a kind of measurement method of paddy-field-working equipment working resistance measuring system, feature exist according to claim 8
In: the calculation method of the working resistance of paddy-field-working equipment are as follows:
Wherein: F is working resistance sensor resultant force, FfFor working resistance, FxFor X-direction resultant force, FyFor Y-direction resultant force, FzFor the side Z
To resultant force.
10. a kind of measurement method of paddy-field-working equipment working resistance measuring system, feature exist according to claim 8
In: the calculation method of moment of flexure caused by paddy-field-working equipment operation are as follows:
Wherein: M is moment of flexure caused by the operation of paddy-field-working equipment；H is the distance between two three-dimensional force sensors in the direction z；L
For the distance between two three-dimensional force sensors in the direction y.
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| CN201910060732.2A CN109738103B (en) | 2019-01-22 | 2019-01-22 | Paddy field operation tool working resistance measuring system and measuring method thereof |
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| CN201910060732.2A CN109738103B (en) | 2019-01-22 | 2019-01-22 | Paddy field operation tool working resistance measuring system and measuring method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111077284A (en) * | 2019-12-23 | 2020-04-28 | 华南农业大学 | Paddy field plough bottom information continuous sensing device and method |
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| DE202011108905U1 (en) * | 2011-12-12 | 2012-07-27 | Batarow Sensorik GmbH | Force measuring pin for three-dimensional force detection between tractor and trailer |
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| CN109738103B (en) | 2024-05-14 |
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